CN113614410A - Gear mechanism, speed reducer, and drive device using speed reducer - Google Patents

Gear mechanism, speed reducer, and drive device using speed reducer Download PDF

Info

Publication number
CN113614410A
CN113614410A CN202080022558.3A CN202080022558A CN113614410A CN 113614410 A CN113614410 A CN 113614410A CN 202080022558 A CN202080022558 A CN 202080022558A CN 113614410 A CN113614410 A CN 113614410A
Authority
CN
China
Prior art keywords
gear
support
holding member
module
input
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202080022558.3A
Other languages
Chinese (zh)
Other versions
CN113614410B (en
Inventor
中村江児
长屋雄太
岛本光
沖村隆行
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nabtesco Corp
Original Assignee
Nabtesco Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nabtesco Corp filed Critical Nabtesco Corp
Priority claimed from PCT/JP2020/013285 external-priority patent/WO2020217831A1/en
Publication of CN113614410A publication Critical patent/CN113614410A/en
Application granted granted Critical
Publication of CN113614410B publication Critical patent/CN113614410B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Retarders (AREA)
  • Gear Transmission (AREA)
  • General Details Of Gearings (AREA)

Abstract

A speed reducer of the present invention includes: a support module; an input gear rotatably supported by the support module; an intermediate gear meshed with the input gear; an output gear meshed with the intermediate gear; and a gear position changing mechanism capable of changing a position of the intermediate gear with respect to the input gear and the output gear.

Description

Gear mechanism, speed reducer, and drive device using speed reducer
Technical Field
The present invention relates to a gear mechanism, a speed reducer, and a drive device using the speed reducer.
The present application claims priority based on japanese patent application No. 2019-086552 filed in japan on 26 th 4 th 2019 and japanese patent application No. 2019-127992 filed in japan on 9 th 7 th 9 th 2019, the contents of which are incorporated herein by reference.
Background
In industrial robots, machine tools, and the like, reduction gears are used to reduce the rotation of a rotary drive source such as a motor. In a reduction gear, an intermediate gear that meshes with both gears may be interposed between an input gear and an output gear (see, for example, patent document 1).
In such a reduction gear, the input gear and the output gear are rotatably supported by a support module such as an output rotary body and a case. The intermediate gear is also rotatably supported by a support module such as an output rotary body or a housing, and meshes with the input gear and the output gear. The rotation of the input gear is transmitted to the output gear after being decelerated at a speed ratio corresponding to the gear ratio of the output gear and the input gear. The support shaft of the intermediate gear is fixed to the holding hole of the support module at a position where the tooth surfaces of the intermediate gear mesh with both the tooth surfaces of the input gear and the output gear.
Documents of the prior art
Patent document
Patent document 1: japanese patent No. 5231530
Disclosure of Invention
Problems to be solved by the invention
In such a reduction gear, the input gear may be replaced with another input gear having a different number of teeth for the purpose of changing the reduction ratio. In this case, when a new input gear is attached to the output shaft of the drive source, the distance between the tooth surfaces of the input gear and the output gear changes. Therefore, it is necessary to change the position of the support shaft of the intermediate gear so that the tooth surface of the intermediate gear meshes with the tooth surface of the new input gear.
In this case, it is necessary to replace the support module such as the output rotary body and the housing to which the support shaft of the intermediate gear is fixed with another member having a different position of the holding hole. In addition, when the output gear is replaced with a member having a different number of teeth, the support module needs to be replaced for the same reason.
Therefore, in the conventional reduction gear, when the input gear and the output gear are replaced with members having different numbers of teeth, large-scale component replacement is required, which leads to an increase in component cost.
The invention provides a speed reducer which can change the speed ratio of an input gear and an output gear without large-scale component replacement and can restrain the rising of component cost, and a driving device using the speed reducer.
The present invention also provides a gear mechanism, a speed reducer, and a drive device using the speed reducer, which can expand the change range of the gear ratio without large-scale component replacement and can suppress the increase of the component cost.
Means for solving the problems
A speed reducer according to an aspect of the present invention includes: a support module; an input gear rotatably supported by the support module; an intermediate gear meshed with the input gear; an output gear meshed with the intermediate gear; and a gear position changing mechanism capable of changing a position of the intermediate gear with respect to the input gear and the output gear.
According to the above configuration, when at least one of the input gear and the output gear is replaced, the position of the intermediate gear is changed by the gear position changing mechanism in accordance with a change in the distance between the tooth surfaces of the input gear and the output gear. In this configuration, the reduction ratio between the input gear and the output gear can be changed without replacing the support module. Therefore, the gear ratio of the input gear and the output gear can be changed without requiring large-scale component replacement, and an increase in component cost can be suppressed.
The gear position changing mechanism may include a holding member that holds the support shaft of the intermediate gear, and the holding member may be detachably attached to the support module.
In this case, the position of the intermediate gear can be changed by changing the mounting direction of the holding member with respect to the support module and the holding member itself.
The following structure is also possible: the holding member has a holding portion for holding the support shaft at a position spaced apart from a reference position on the holding member, the holding member and the support module have a rotational position changing portion capable of changing a rotational position of the holding member about the reference position, and the gear position changing mechanism has the rotational position changing portion and the holding portion of the holding member.
When at least one of the input gear and the output gear is replaced, the rotational position of the holding member around the reference position is changed by the rotational position changing unit in accordance with a change in the distance between the tooth surfaces of the input gear and the output gear. This changes the position of the support shaft of the intermediate gear in a state where the holding member is attached to the support module. In the case of this configuration, the position of the intermediate gear can be easily changed by merely changing the rotational position of the holding member.
The following structure is also possible: the holding member is formed in a cylindrical shape with the reference position as an axis, the support module has a circular holding hole into which an outer peripheral surface of the holding member is fitted, and the rotational position changing portion has the holding hole and the outer peripheral surface of the holding member.
When at least one of the input gear and the output gear is replaced, the rotation angle of the holding member around the axis is appropriately changed in accordance with a change in the distance between the tooth surfaces of the input gear and the output gear, and the holding member is fitted into the holding hole of the support module in this state.
The support shaft may be integrally formed with the holding portion of the holding member.
In this case, the support shaft of the intermediate gear is formed integrally with the holding member, and therefore, the number of components can be reduced.
A speed reducer according to an aspect of the present invention includes: a support module; an input gear rotatably supported by the support module; an intermediate gear meshed with the input gear; an output gear meshed with the intermediate gear; and a holding member that holds a support shaft of the intermediate gear and is detachably attached to the support module, wherein the holding member is formed in a columnar shape, the support shaft is integrally formed in a position separated from an axial position of the holding member, the support module has a circular holding hole into which an outer peripheral surface of the holding member is fitted, and the outer peripheral surface of the holding member and the holding hole of the support module constitute a rotational position changing portion capable of changing a rotational position of the holding member about the axial line.
According to the above configuration, when at least one of the input gear and the output gear is replaced, the rotational position of the holding member is appropriately changed in accordance with a change in the distance between the tooth surfaces of the input gear and the output gear, and the outer peripheral surface of the holding member is fitted in the holding hole of the support module. This changes the position of the intermediate gear on the support module. In this configuration, the reduction ratio between the input gear and the output gear can be changed by merely changing the rotational position of the holding member with respect to the holding hole of the support module. Therefore, the gear ratio of the input gear and the output gear can be changed without requiring large-scale component replacement, and an increase in component cost can be suppressed.
A speed reducer according to an aspect of the present invention includes: a support module; an input gear rotatably supported by the support module; an intermediate gear meshed with the input gear; an output gear meshed with the intermediate gear; and a shaft position changing unit that can change a position of the support shaft of the intermediate gear.
When at least one of the input gear and the output gear is replaced, the position of the support shaft of the intermediate gear is changed by the shaft position changing unit in accordance with a change in the distance between the tooth surfaces of the input gear and the output gear. In this configuration, the reduction ratio between the input gear and the output gear can be changed without replacing the support module.
The support module may have a plurality of support shaft fitting holes into which the support shafts can be fitted, and the shaft position changing portion may be formed of the plurality of support shaft fitting holes.
When at least one of the input gear and the output gear is replaced, the support shaft fitting hole in the support module is appropriately selected in accordance with a change in the distance between the tooth surfaces of the input gear and the output gear, and the support shaft is fitted in the optimum support shaft fitting hole.
A driving device according to an aspect of the present invention includes: a speed reducer that outputs the rotation of the rotation drive source by reducing the rotation speed; and a rotation module coupled to an output portion of the speed reducer, wherein the speed reducer includes: a support module; an input gear rotatably supported by the support module; an intermediate gear meshed with the input gear; an output gear meshed with the intermediate gear; and a gear position changing mechanism capable of changing a position of the intermediate gear with respect to the input gear and the output gear.
A gear mechanism according to an aspect of the present invention includes: a support module; a first gear rotatably supported by the support module; a second gear meshed with the first gear; a third gear meshed with the second gear; and a shaft position changing unit that can change a position of the support shaft of the second gear in accordance with the third gear having a different number of teeth.
In this way, by changing the position of the support shaft of the second gear in accordance with the third gear having a different number of teeth by the shaft position changing unit, the range of change in the gear ratio between the first gear and the third gear can be widened without replacing the support module in accordance with a change in the distance between the tooth surfaces of the third gear and the second gear.
In the present invention, the shaft position changing unit may include a plurality of support holes which are formed in the support module so as to be separable from each other, the plurality of support holes being capable of rotatably supporting the support shaft to be inserted thereinto.
In the present invention, the support module may include a plurality of support hole portions along a circumference spaced apart from a rotation center of the first gear by a predetermined distance.
In the present invention, the support module may include a first base portion and a second base portion that are located on both sides of the second gear so as to face each other in an axial direction of the second gear,
the support hole portion is provided in at least one of the opposing surface of the first base portion and the opposing surface of the second base portion.
In the present invention, the plurality of support holes are arranged along a circumference of a predetermined distance from a rotation center of the first gear, and the plurality of support holes are alternately formed on the opposing surface of the first base part and the opposing surface of the second base part on the circumference.
A reduction gear according to an aspect of the present invention includes a gear mechanism and a reduction unit connected to the gear mechanism, the gear mechanism including: a support module; a first gear rotatably supported by the support module; a second gear meshed with the first gear; a third gear meshed with the second gear; and a shaft position changing unit that can change a position of the support shaft of the second gear in accordance with the third gear having a different number of teeth.
The circumference on which the plurality of support holes are arranged may be centered on a rotation center of the first gear, and a radius of the circumference may be equal to a distance from the rotation center of the first gear to a rotation center of the second gear.
ADVANTAGEOUS EFFECTS OF INVENTION
The speed ratio of the input gear and the output gear can be changed without replacing the speed reducer and the driving device with large-scale components. Therefore, when the above-described speed reducer and drive device are used, the increase in the component cost can be suppressed.
Further, the gear mechanism, the speed reducer, and the drive device described above can change the speed ratio without requiring large-scale replacement of parts, and can expand the range of change of the speed ratio.
Therefore, when the gear mechanism, the speed reducer, and the drive device are used, the increase in the component cost can be suppressed.
Drawings
Fig. 1 is a perspective view of a driving device according to embodiment 1.
Fig. 2 is a front view of the reduction gear of embodiment 1.
Fig. 3 is a sectional view of the speed reducer of embodiment 1 taken along the line III-III of fig. 2.
Fig. 4 is an enlarged cross-sectional view showing a part of fig. 3 of the speed reducer according to embodiment 1.
Fig. 5 is a sectional view of the reduction gear of embodiment 1, taken substantially along the line V-V of fig. 3.
Fig. 6 is a sectional view of the reduction gear of embodiment 1, taken substantially along the line V-V of fig. 3.
Fig. 7 is a sectional view of the reduction gear according to embodiment 2, corresponding to a part of fig. 5.
Fig. 8 is a sectional view of the reduction gear according to embodiment 2, corresponding to a part of fig. 6.
Fig. 9 is an end view of the interior of the speed reducer of embodiment 3.
Fig. 10 is a sectional view of the gear mechanism and the reduction gear of embodiment 4.
Fig. 11 is a sectional view of the gear mechanism and the speed reducer of the 4 th embodiment, taken along the line XI-XI in fig. 10.
Fig. 12 is an explanatory diagram of the shaft position changing unit according to embodiment 4.
Fig. 13 is a sectional view of the gear mechanism and the reduction gear according to embodiment 4 taken along line XIII-XIII in fig. 12.
Detailed Description
Next, embodiments of the present invention will be described with reference to the drawings. In the embodiments described below, the same reference numerals are given to common portions, and overlapping descriptions are omitted.
(embodiment 1)
First, embodiment 1 shown in fig. 1 to 6 will be described.
Fig. 1 is a perspective view of a drive device 1 used for welding, component assembly, and the like.
The drive device 1 includes: a base module 11 disposed on the ground F; a speed reducer 10 fixedly provided on an upper surface of one end side in a longitudinal direction of the base module 11; a motor 2 as a rotation drive source that outputs power to a reduction gear 10; a holding device 12 that is fixedly provided on an upper surface of the other end side in the longitudinal direction of the base module 11; and a rotation module 13 having both ends in the longitudinal direction supported by the reduction gear 10 and the holding device 12. The motor 2 is integrally mounted on the input side of the reducer 10. The speed reducer 10 reduces the rotation of the motor 2 and transmits the rotation to one end side in the longitudinal direction of the rotation module 13. The holder 12 rotatably supports the other end side in the longitudinal direction of the rotation module 13. The power is transmitted from the motor 2 to the rotation module 13 via the speed reducer 10, so that the rotation module 13 rotates about the axis o1 substantially along the horizontal direction.
In the case of the present embodiment, the rotary module 13 has a plurality of workpiece support surfaces 13a about the axis o 1. A workpiece W to be worked is attached to each workpiece support surface 13 a. The workpiece W attached to the workpiece support surface 13a is moved toward the working position by the rotation of the rotation block 13 by the motor 2. A working device 3 such as a welding robot is provided at the working position.
Fig. 2 is a front view of the speed reducer 10 as viewed from the output side (the side on which the rotating module 13 is mounted), and fig. 3 is a sectional view taken along the line III-III of fig. 2. Fig. 4 is an enlarged sectional view of a part of the reduction gear 10 shown in fig. 3, and fig. 5 is a sectional view of the reduction gear 10 taken substantially along the V-V line of fig. 4. In fig. 5, a central gear 30, a crank gear 31, an intermediate gear 32, and the like, which will be described later, are not shown in cross section. Fig. 5 also shows a holding member 40 and a mounting base 38, which will be described later.
The speed reducer 10 includes: a fixed block 14 having a lower end fixed to an upper surface of one end side of the base block 11 (see fig. 1); a1 st and 2 nd carrier modules 15A and 15B integrated with the fixed module 14; an outer cylinder 17 rotatably supported on the outer peripheral sides of the 1 st carrier module 15A and the 2 nd carrier module 15B via bearings 16; a plurality of (three) crankshafts 18 rotatably supported by the 1 st and 2 nd carrier modules 15A and 15B; and a1 st slewing gear 19A and a2 nd slewing gear 19B that revolve together with the two eccentric portions 18a, 18B of the respective crankshafts 18. The speed reducer 10 is provided to the base module 11 such that a rotation center axis c1 of the output portion coincides with the axis o1 of the drive device 1.
The fixing module 14 has: a perforated disc-shaped base flange 14a having a circular through hole 25 (see fig. 3) at the center thereof; and a leg portion 14b extending downward from the base flange 14a (see fig. 2). The lower ends of the leg portions 14b of the fixed module 14 are fixed to the base module 11 by bolt fastening or the like. The perforated disc-shaped 1 st gear frame module 15A overlaps one end surface of the base flange 14a in the thickness direction, and the 1 st gear frame module 15A and the base flange 14a are integrally fixed by fastening with bolts or the like. The 2 nd carrier module 15B is fixed to an end surface of the 1 st carrier module 15A opposite to the base flange 14a by bolt fastening or the like. The 2 nd carrier module 15B includes a perforated disc-shaped base plate portion 15Ba and a plurality of strut portions, not shown, extending in a direction from an end surface of the base plate portion 15Ba toward the 1 st carrier module 15A. The end surfaces of the strut portions of the 2 nd carrier module 15B are butted against the end surface of the 1 st carrier module 15A, and each strut portion is fixed to the 1 st carrier module 15A. A gap in the axial direction is maintained between the base plate portions 15Ba of the 1 st and 2 nd carrier modules 15A and 15B. The 1 st slewing gear 19A and the 2 nd slewing gear 19B are disposed in the gap.
Further, the 1 st slewing gear 19A and the 2 nd slewing gear 19B are formed with a relief hole, not shown, through which each column portion of the 2 nd carrier module 15B passes. The relief hole is formed with a sufficiently large inner diameter with respect to the column portion so that the column portion does not interfere with the turning operation of the 1 st turning gear 19A and the 2 nd turning gear 19B.
The outer cylinder 17 is disposed across the outer peripheral surface of the 1 st carrier module 15A and the outer peripheral surface of the substrate portion 15Ba of the 2 nd carrier module 15B. Both end portions of the outer cylinder 17 in the axial direction are rotatably supported by the base plate portions 15Ba of the 1 st carrier module 15A and the 2 nd carrier module 15B via bearings 16. Further, a plurality of pin grooves (not shown) extending parallel to the rotation center axis c1 are formed in the inner peripheral surface of the central region in the axial direction of the outer cylinder 17 (the region facing the outer peripheral surfaces of the 1 st and 2 nd slewing gears 19A, 19B). A substantially cylindrical internal gear pin 20 is rotatably housed in each pin groove. A plurality of internal gear pins 20 attached to the inner peripheral surface of the outer cylinder 17 face the outer peripheral surfaces of the 1 st slewing gear 19A and the 2 nd slewing gear 19B, respectively.
The 1 st slewing gear 19A and the 2 nd slewing gear 19B are formed to have an outer diameter slightly smaller than the inner diameter of the outer cylinder 17. Outer teeth 19Aa and 19Ba that are in meshing contact with a plurality of inner-tooth pins 20 disposed on the inner circumferential surface of the outer cylinder 17 are formed on the outer circumferential surfaces of the 1 st slewing gear 19A and the 2 nd slewing gear 19B, respectively. The number of teeth of the external teeth 19Aa and 19Ba formed on the outer peripheral surfaces of the 1 st and 2 nd rotating gears 19A and 19B is set to be slightly smaller (for example, one smaller) than the number of the internal pins 20.
The plurality of crankshafts 18 are disposed on the same circumference around the rotation center axis c1 of the 1 st carrier module 15A and the 2 nd carrier module 15B. Each crankshaft 18 is rotatably supported by the 1 st carrier module 15A and the 2 nd carrier module 15B via bearings 22. The eccentric portions 18a and 18B of the crankshafts 18 penetrate the 1 st and 2 nd slewing gears 19A and 19B, respectively. The eccentric portions 18a and 18B are rotatably engaged with support holes 21 formed in the 1 st and 2 nd slewing gears 19A and 19B, respectively, via eccentric portion bearings 23. The two eccentric portions 18a and 18b of each crankshaft 18 are eccentric so as to be shifted in phase by 180 ° around the axis of the crankshaft 18.
When the plurality of crankshafts 18 are rotated in one direction by an external force, the eccentric portions 18a and 18B of the crankshafts 18 rotate in the same direction at a predetermined radius, and accordingly, the 1 st slewing gear 19A and the 2 nd slewing gear 19B rotate in the same direction at the same radius. At this time, the external teeth 19Aa and 19Ba of the 1 st slewing gear 19A and the 2 nd slewing gear 19B are in meshing contact with the plurality of internal-tooth pins 20 held on the inner periphery of the outer cylinder 17.
In the reduction gear 10 of the present embodiment, the number of the internal pins 20 on the outer cylinder 17 side is set to be slightly larger than the number of teeth of the external teeth 19Aa and 19Ba of the 1 st slewing gear 19A and the 2 nd slewing gear 19B, and therefore, the outer cylinder 17 is pressed in the same direction as the slewing direction and rotated by a predetermined pitch while the 1 st slewing gear 19A and the 2 nd slewing gear 19B make one revolution. As a result, the rotation of the crankshaft 18 is greatly decelerated and output as the rotation of the outer cylinder 17. In the present embodiment, since the eccentric portion 18a and the eccentric portion 18B of each crankshaft 18 are eccentric so as to be shifted by 180 ° about the axis, the rotational phase of the 1 st rotating gear 19A and the rotational phase of the 2 nd rotating gear 19B are shifted by 180 °.
An output plate 26 having a perforated disc shape is attached to an end portion of the outer cylinder 17 in the axial direction on the opposite side to the base flange 14 a. The output plate 26 covers the end of the 2 nd carrier module 15B in a non-contact state, and the rotation module 13 for holding a workpiece (see fig. 1) can be attached to the axially outer end surface of the output plate 26 by bolt fastening or the like. Further, a cylindrical portion 27 that penetrates the inner circumferential portions of the 2 nd carrier module 15B, the 2 nd slewing gear 19B, the 1 st slewing gear 19A, the 1 st carrier module 15A, and the base flange 14a in a non-contact state is attached to the inner circumferential portion of the output plate 26. The cylindrical portion 27 rotates integrally with the output plate 26.
Further, the speed reducer 10 includes: an input gear 33 coupled to a rotation shaft, not shown, of the motor 2; a center gear 30 (output gear) rotatably held on the inner peripheral surfaces of the base flange 14a and the 1 st carrier module 15A; and an intermediate gear 32 that meshes with the input gear 33 and the central gear 30 and transmits the rotation of the input gear 33 to the central gear 30. The center gear 30 is set to have a larger diameter than the input gear 33 and a larger number of teeth than the input gear. Thus, the rotation of the input gear 33 by the motor 2 is reduced at a predetermined reduction ratio, and is transmitted to the center gear 30 in this state.
The input gear 33 is rotatably supported by an edge portion separated radially outward from the through hole 25 of the base flange 14a via a bearing 34. The rotation center axis c4 of the input gear 33 is set in parallel with the rotation center axis c1 of the output side of the reduction gear 10.
The center gear 30 is formed so as to straddle the axial length of the base flange 14a and the 1 st carrier module 15A. The central gear 30 has external teeth 30a formed in its central region in the axial direction. One end side in the axial direction of the center gear 30 is rotatably held by the inner peripheral surface of the through hole 25 of the base flange 14a via a bearing 35A. The other end side in the axial direction of the center gear 30 is rotatably held by the inner peripheral surface of the 1 st carrier module 15A via a bearing 35B. The center gear 30 rotates about the rotation center axis c 1.
Further, a plurality of (three) recesses 28 are formed in the end portion of the 1 st carrier module 15A on the base flange 14a side, corresponding to the positions of the plurality of (three) crankshafts 18 described above. Each recess 28 opens on the inner peripheral surface side of the 1 st carrier module 15A. A crank gear 31 for transmitting rotation to the crankshaft 18 is attached to an end of each crankshaft 18 on the base flange 14a side. The crank gear 31 attached to each crankshaft 18 is disposed inside the corresponding recess 28. Each crank gear 31 has external teeth 31 a. The external teeth 31a of each crank gear 31 mesh with the region of the external teeth 30a of the center gear 30 near the other end in the axial direction. Therefore, the rotation input from the input gear 33 to the center gear 30 via the intermediate gear 32 is transmitted to each crankshaft 18 via the crank gear 31.
In the reduction gear 10 of the present embodiment, the reduction is performed by a preceding reduction part composed of the input gear 33 and the center gear 30 and a subsequent reduction part composed of the crankshaft 18, the 1 st slewing gear 19A, the 2 nd slewing gear 19B, the outer cylinder 17, and the like.
Further, a pocket 36 for accommodating the external teeth 33a of the input gear 33 and the intermediate gear 32 is formed in the end portion of the base flange 14a closer to the 1 st carrier module 15A. A mounting base 38 for supporting the intermediate gear 32 is attached to a bottom surface (a surface facing the end surface of the 1 st carrier module 15A) of the recess 36 of the base flange 14 a. Further, a part of the recessed portion 36 is opened to the through hole 25 in the center of the base flange 14 a. The intermediate gear 32 disposed in the pocket 36 is engaged with the external teeth 30a of the center gear 30 through the open portion on the radially inner side of the pocket 36.
The intermediate gear 32 is rotatably supported by a cylindrical support shaft 39. The support shaft 39 is formed integrally with a cylindrical holding member 40, the outer diameter of the holding member 40 is larger than the outer diameter of the support shaft 39, and the axial length of the holding member 40 is shorter than the axial length of the support shaft 39. The support shaft 39 is integrally formed at a position offset from the axis c2 of the holding member 40.
That is, the support shaft 39 is disposed eccentrically (offset in the radial direction) with respect to the axis c2 of the holding member 40. The axis c3 of the support shaft 39 is set in parallel with the axis c2 of the holding member 40.
In the present embodiment, the position of the axis c2 is set as a reference position on the holding member 40, and the portion 40a of the holding member 40 that is continuous with the support shaft 39 is set as a holding portion of the support shaft 39. The holding portion of the support shaft 39 is disposed at a position separated from the position of the axis c2, which is the reference position.
A circular holding hole 41 into which the outer peripheral surface of the holding member 40 is fitted and fixed is formed in the mounting base 38 mounted in the recess 36. In the case of the present embodiment, the position of the support shaft 39 of the intermediate gear 32 on the base flange 14a (base module 11) can be changed by changing the rotational position of the holding member 40 about the axis c2 with respect to the holding hole 41. For example, when the reduction ratio of the reduction gear 10 is changed by changing the number of teeth and the outer diameter of the input gear 33, the position of the support shaft 39 of the intermediate gear 32 is changed.
In the present embodiment, the mounting base 38 constitutes a support module that rotatably supports the input gear 33, the center gear 30 (output gear), and the intermediate gear 32 together with the fixed module 14 and the 1 st carrier module 15A. In the present embodiment, the holding hole 41 of the mounting base 38 and the outer peripheral surface of the holding member 40 fitted in the holding hole 41 constitute a rotational position changing portion.
When the number of teeth and the outer diameter of the input gear 33 are changed, the distance between the tooth faces of the external teeth 33a of the input gear 33 and the external teeth 30a of the central gear 30 (output gear) changes, and therefore the intermediate gear 32 cannot be reliably meshed with the input gear 33 and the central gear 30 at the position of the support shaft 39.
In this case, by appropriately changing the position of the support shaft 39, the intermediate gear 32 can be reliably meshed with the input gear 33 and the center gear 30.
Fig. 6 is a cross-sectional view similar to fig. 5 of the reduction gear 10 when the input gear 33 is replaced with a gear having a smaller diameter.
In the example shown in fig. 5, the axis c3 of the support shaft 39 of the intermediate gear 32 is largely away from the straight line L1 that connects the tooth surfaces of the input gear 33(a) and the center gear 30 at the shortest distance. At this time, the axis c3 of the support shaft 39 is eccentric to the side farthest from the straight line L1 with respect to the axis c2 of the holding member 40.
As in the example of fig. 6, when the outer diameter of the input gear 33(B) is reduced, the distance between the tooth surfaces of the input gear 33(B) and the center gear 30 becomes large, and the intermediate gear 32 cannot be reliably meshed with the input gear 33 and the center gear 30 at the position of the support shaft 39 shown in fig. 5. In this case, the holding member 40 is detached from the holding hole 41, and the holding member 40 is rotated by 180 ° about the axis c2 and fitted into the holding hole 41 again. Thus, the axis c3 of the support shaft 39 is eccentric with respect to the axis c2 of the holding member 40 on the side closest to the straight line L1 connecting the tooth surfaces of the input gear 33(B) and the center gear 30 at the shortest distance. As a result, the intermediate gear 32 can be reliably meshed with the input gear 33 and the center gear 30 (B).
In the present embodiment, the holding portion (the portion 40a continuous with the support shaft) disposed so as to be separated from the axis line c2 (the reference position) on the holding member, the holding hole 41 as the rotational position changing portion, and the outer peripheral surface of the holding member 40 constitute a gear position changing mechanism (a shaft position changing portion).
As described above, in the reduction gear 10 of the present embodiment, the holding member 40 that holds the support shaft 39 of the intermediate gear 32 and the mounting base 38 that is the support module constitute a gear position changing mechanism that can change the position of the intermediate gear 32. Therefore, when the input gear 33 is replaced with another gear having a different number of teeth and an outer diameter, the position of the intermediate gear 32 can be changed by the gear position changing mechanism in accordance with a change in the distance between the tooth surfaces of the input gear 33 and the central gear 30 (output gear).
Therefore, the reduction ratio between the input gear 33 and the central gear 30 (output gear) can be changed without replacing the support module such as the fixed module 14. Therefore, when the reduction gear 10 of the present embodiment is used, the gear ratios of the input gear 33 and the center gear 30 (output gear) can be changed without requiring large-scale component replacement, and an increase in component cost can be suppressed.
In the reduction gear 10 of the present embodiment, the holding portion of the support shaft 39 (the portion 40a continuous with the support shaft 39) is disposed at a position separated from the reference position (the axis c2) on the holding member 40. A rotational position changing portion (a fitting structure of the holding member 40 and the holding hole 41) capable of changing the rotational position of the holding member 40 is provided between the holding member 40 and the mounting base 38 as the support module. Therefore, when the reduction gear 10 of the present embodiment is used, the position of the intermediate gear 32 can be easily changed by merely changing the rotational position of the holding member 40.
In particular, in the present embodiment, the holding member 40 is formed in a cylindrical shape, and the mounting base 38 as the support module is formed with a holding hole 41 into which the holding member 40 is fitted. The rotational position changing portion is constituted by the outer peripheral surface of the holding member 40 and the holding hole 41 of the mounting base 38. Therefore, when the holding member 40 is fitted into the holding hole 41, the position of the intermediate gear 32 can be easily changed simply by changing the rotation angle of the holding member 40.
In the present embodiment, the holding member 40 is formed in a cylindrical shape, but the outer peripheral surface of the holding member 40 may be a shape other than a circular shape, for example, a polygonal shape such as a square shape.
In the reduction gear 10 of the present embodiment, the support shaft 39 of the intermediate gear 32 is formed integrally with the holding member 40, so that the number of components can be reduced to reduce the cost.
However, the support shaft 39 may be formed as a separate component from the holding member 40, and the support shaft 39 may be fixed to the holding member 40 by press fitting or the like.
(modification example)
In the above embodiment, the holding member 40 is detachably attached to the holding hole 41 of the mounting base 38, and when the input gear 33 is replaced with a member having a different outer diameter, the holding member 40 is rotated by 180 ° and fixed to the holding hole 41 again in a fitted state. In contrast, the mounting base 38 shown in fig. 5 and 6 may be mounted in a state rotated 180 ° about the axis c3 with respect to the base flange 14a (support module). Specifically, for example, the fastening and fixing portions 50 on the left and right sides of the mounting base 38 can be arranged in a bilaterally symmetrical shape in the drawing.
In this case, since the holding member 40 does not need to be detached from the mounting base 38, the mounting base 38 may be integrally configured with the holding member 40. In the case of this modification, the mounting base 38 is not a part of the support module, but a part of the holding member that holds the support shaft 39.
(embodiment 2)
Fig. 7 is a sectional view of the reduction gear 110 according to embodiment 2 corresponding to a part of fig. 5, and fig. 8 is a sectional view of the reduction gear 110 according to embodiment 2 corresponding to a part of fig. 6.
The reduction gear 110 of the present embodiment differs from that of embodiment 1 only in the structure of the fitting portion between the holding member 40A and the mounting base 38A. The holding member 40A has a pair of chamfered portions 40Aa parallel to each other on the outer circumferential surface of the cylindrical shape. The pair of chamfered portions 40Aa are formed symmetrically with respect to the axis c3 of the holding member 40A. The mounting base 38A is formed with a holding hole 41A having a shape conforming to the outer peripheral shape of the holding member 40A. That is, two flat surfaces 41Aa parallel to each other are provided in the holding hole 41A of the mounting base 38A. When the holding member 40A is fitted into the holding hole 41A of the mounting base 38A, the two chamfered portions 40Aa on the holding member 40A side abut against the two flat surfaces Aa. Thus, the holding member 40A is fitted to the holding hole 41A only at two rotational positions shifted by 180 ° about the axis c 2.
In the speed reducer 110 of the present embodiment, the holding member 40A can be fitted into the holding hole 41A only at two rotational positions shifted by 180 ° about the axis c2, and therefore, the rotational position of the holding member 40A can be accurately positioned at two positions. Therefore, the tooth surface of the intermediate gear 32 can be accurately meshed with the two input gears 33 having different numbers of teeth and different outer diameters.
(embodiment 3)
Fig. 9 is an end view of the inner end surface (the end surface facing the 1 st carrier module) of the base flange 14a (the fixed module 14) of the reduction gear unit 210 according to embodiment 3 as viewed from the front.
In fig. 9, an intermediate gear 32, a center gear 30 (output gear), and two types of input gears 33(a), 33(B) different in outer diameter and number of teeth are shown in phantom lines.
In the speed reducer 210 of the present embodiment, a plurality of support shaft fitting holes 45A and 45B into which the support shafts 239 of the intermediate gear 32 can be fitted are formed in the inner end surface of the base flange 14 a. The formation positions of the support shaft fitting holes 45A and 45B are set to positions at which the tooth surfaces of the intermediate gear 32 supported by the support shaft 239 mesh with the input gear 33 and the central gear 30 that are used. In the example shown in fig. 9, the number of the support shaft fitting holes 45A and 45B is two, but may be three or more. In the present embodiment, no holding member for holding the support shaft 239 is provided, and the support shaft 239 is formed in a simple cylindrical shape.
In the case of the present embodiment, the plurality of support shaft fitting holes 45A, 45B constitute a shaft position changing portion that can change the position of the support shaft 239 of the intermediate gear 32.
In the case of using one input gear 33(a) having a large outer diameter, the support shaft 239 is fixed in a fitted state to the support shaft fitting hole 45A on the side away from the straight line L1 connecting the tooth surfaces of the input gear 33(a) and the center gear 30 at the shortest distance. When the input gear 33(a) is replaced with another input gear 33(B) having a smaller outer diameter from this state, the support shaft 239 is detached from the support shaft fitting hole 45A, and then the support shaft 239 is fixed in a fitted state to the support shaft fitting hole 45B close to the straight line L1 connecting the tooth surfaces of the input gear 33(B) and the center gear 30 at the shortest distance.
In the reduction gear 210 of the present embodiment, when the input gear 33 is replaced, the support shaft fitting holes 45A and 45B in the base flange 14a are appropriately selected according to a change in the distance between the tooth surfaces of the input gear 33 and the central gear 30 (output gear), and the support shaft 39 of the intermediate gear 32 can be fixed to the optimum support shaft fitting holes 45A and 45B. Therefore, the reduction ratio between the input gear 33 and the central gear 30 (output gear) can be changed without replacing the support module such as the fixed module 14. Therefore, even when the speed reducer 210 of the present embodiment is used, the speed ratios of the input gear 33 and the center gear 30 (output gear) can be changed without requiring large-scale component replacement, and an increase in component cost can be suppressed.
The present invention is not limited to the above-described embodiments, and various design changes can be made without departing from the scope of the invention.
For example, although the above description of the embodiment has described in detail the case where the input gear is replaced with another gear having a different number of teeth and a different outer diameter, the position of the support shaft of the intermediate gear can be changed similarly even when the output gear (for example, a center gear) is replaced with another gear having a different number of teeth and a different outer diameter. In addition, even when both the input gear and the output gear are replaced with different gears, the position of the support shaft of the intermediate gear can be changed in the same manner.
In the above-described embodiment, the intermediate gear and the input gear are rotatably supported on the fixed module side, but the intermediate gear and the input gear may be rotatably supported on the 1 st carrier module side.
(embodiment 4)
Hereinafter, a gear mechanism and a reducer according to embodiment 4 of the present invention will be described with reference to the drawings.
Fig. 10 is a sectional view showing the gear mechanism and the speed reducer in the present embodiment, and fig. 11 is a sectional view taken along line XI-XI of fig. 10. In the figure, reference numeral 301 denotes a speed reducer.
As shown in fig. 10 and 11, the speed reducer 301 of the present embodiment transmits the rotational driving force of the motor (rotational driving source) 310 to the speed reducer section (output section) 330 via the gear mechanism 320, and outputs the rotational driving force as rotational force around the output axis T0 of the speed reducer section 330 at a predetermined speed reduction ratio.
The direction along the output axis T0 may be referred to as the vertical direction (vertical direction). The speed reducer 301 of the present embodiment can be applied to table driving of a turntable, for example.
In the reduction gear 301, the gear mechanism 320 and the reduction part 330 are housed in the case 302. The motor 310 is mounted to the exterior of the housing 302. The motor 310 drives a drive shaft 310a along a drive axis (input axis) T10 extending in a substantially horizontal direction. An input shaft 311 having a coaxial input axis is attached to the drive shaft 310 a. The input shaft 311 is rotatably supported by the housing 302. The gear mechanism 320 is interlocked with the input shaft 311. The reduction unit 330 outputs a rotation speed lower than the rotation speed input from the gear mechanism 320.
The motor 310 and the gear mechanism 320 are disposed adjacent to each other when viewed in the direction of the output axis T0. Similarly, the gear mechanism 320 and the reduction part 330 are disposed adjacent to each other when viewed in the direction along the output axis T0. The positions of the motor 310 and the reduction part 330 in the up-down direction along the output axis T0 substantially overlap. The vertical position of the gear mechanism 320 along the output axis T0 is substantially the same as the motor 310 and the reduction part 330, but the gear mechanism 320 is disposed slightly below.
The gear mechanism 320 includes: a sun gear (third gear) 322 having a central axis T2 as a rotation axis; an idler gear (second gear) 323 that meshes with the sun gear 322; and an input gear (first gear) 321 that meshes with the idle gear 323 and to which the driving force from the motor 310 is input from the input shaft 311. The sun gear 322, the idler gear 323, and the input gear 321 are spur gears and are disposed along the same horizontal plane.
The idler axis T3 of idler 323, the input axis T1 of input gear 321, and the central axis T2 of sun gear 322 are all parallel to the output axis T0. The central axis T2 of the sun gear 322 coincides with the output axis T0.
The sun gear 322 has a center axis T2 as a rotation center. Idler 323 is centered about idler axis T3. The input gear 321 is centered on the input axis T1.
The housing 302 has a base portion 302a, a first module 302b, and a second module 302 c.
The base portion 302a is formed in a plate shape and is disposed along a horizontal plane orthogonal to the output axis T0. The base portion 302a is disposed along the lower surface of the reduction gear 301. On the upper surface of the base portion 302a, a first block 302b that houses the gear mechanism 320 and a cylindrical second block 302c that houses the speed reducer 330 are arranged in parallel when viewed along the direction of the output axis T0.
The base portion 302a constitutes a support module that rotatably supports at least the input gear 321, the sun gear 322, and the idle gear 323.
The first block 302b and the second block 302c are coupled in parallel to the upper surface of the base portion 302 a. The first block 302b and the second block 302c protrude upward from the upper surface of the base portion 302 a. The first block 302b and the base portion 302a are coupled to each other so as to seal the inside of the reduction gear 301.
The cylindrical second block 302c is disposed so that the center axis thereof coincides with the output axis T0. The first module 302b is disposed adjacent to the second module 302 c. The upper end of the second block 302c is disposed along the upper surface of the speed reducer 301. The second block 302c is fastened to the upper surface of the base portion 302a with bolts 302j or the like. The second block 302c and the base portion 302a are coupled to each other so as to seal the inside of the reduction gear 301.
The base portion 302a includes: a plate-shaped first base portion 302a1 and a plate-shaped second base portion 302a2 having a profile smaller than that of the first base portion 302a 1. The first base portion 302a1 has a profile that enables both the first module 302b and the second module 302c to be mounted. The second base portion 302a2 has an outline corresponding to the first block 302b, and as described later, the second base portion 302a2 is fitted into and integrated with the first base portion 302a1 in a region corresponding to the first block 302 b. The first base portion 302a1 and the second base portion 302a2 are coupled to each other so as to seal the internal space 328b of the reduction gear 301.
The first base portion 302a1 is formed to have a thickness larger than the thickness of the second base portion 302a2 so that the second base portion 302a2 can be fitted therein as described later. The second base portion 302a2 is exposed to the lower surface of the speed reducer 301. The second base portion 302a2 is integrally coupled to the first base portion 302a1 at a position opposite to the first block 302b in the vertical direction.
The first module 302b has: a first module side 302b1 integrated with the upper surface of the first base portion 302a1 and a first module plate 302b2 integrated with the upper surface of the first module side 302b 1.
The first module side portion 302b1 protrudes upward from the upper surface of the plate-like first base portion 302a 1. The first module board 302b2 is joined in such a manner as to close off the interior of the first module side 302b 1. The first module plate 302b2 is disposed substantially parallel to the first base portion 302a1 and the second base portion 302a 2. The first module board 302b2 is disposed along the upper surface of the speed reducer 301.
The first block 302b has a tip end of an input shaft 311 for transmitting the rotational driving force of the motor 310 to the gear mechanism 320. The input shaft 311 is oriented horizontally.
The motor 310 has a drive shaft 310 a. The motor 310 is secured to the side of the first module side 302b 1. The distal end of the drive shaft 310a is an input shaft 311 that penetrates the housing 302.
A press-fitting hole 311a into which the drive shaft 310a of the motor 310 is fitted is formed in the outer end surface of the input shaft 311. The motor 310 is fixed to a motor support member 326 attached to the first module 302 b. The drive shaft 310a of the motor 310 is inserted into the press-fitting hole 311a of the input shaft 311 in a posture in which the drive axis T10 extends in the horizontal direction (direction parallel to the base portion 302 a). The motor 310 is located slightly above (on the first block 302b side) the upper outer surface of the base portion 302 a.
A drive side gear 311b is attached to a distal end portion of the input shaft 311.
The driving gear 311b has a disk-shaped portion protruding radially from the outer peripheral surface of the input shaft 311 and having teeth formed on an outer end thereof. The driven gear 311c meshes with the driving gear 311 b. The driving side gear 311b and the driven side gear 311c are formed by bevel gears (bevel gears).
The driving side gear 311b and the driven side gear 311c are not limited to bevel gears, and may be configured such that the driving axis T10 of the driving side gear 311b and the input axis T1 of the input shaft 321a of the driven side gear 311c intersect with each other and that a driving force can be transmitted from the driving side gear 311b to the driven side gear 311 c. The driven gear 311c has an input shaft 321a extending in the vertical direction as a rotation shaft. The driven gear 311c is disposed close to the second block 302c in the vertical direction of the input shaft 321 a.
The input shaft 321a is a shaft member extending linearly so as to be concentric with the rotation axis of the driven gear 311 c. The input shaft 321a is supported by a bearing 321g described later in a posture in which the input axis T1 is perpendicular to the drive axis T10 of the input shaft 311. That is, the input shaft 321a is rotatably supported by the housing 302.
In the present embodiment, the drive axis T10 of the input shaft 311 is parallel to the upper surface of the reduction gear 301, and the input axis T1 of the input shaft 321a is orthogonal to the upper surface of the reduction gear 301.
The input axis T1 of the input shaft 321a and the drive axis T10 of the input shaft 311 are not limited to orthogonal positional relationships, and may be positional relationships other than parallel. For example, the drive axis T10 of the input shaft 311 may be inclined in the vertical direction so that the motor 310 side is lowered with respect to the horizontal position.
The driven gear 311c has a disk-shaped portion protruding radially from the outer peripheral surface of the input shaft 321a and having teeth formed on an outer end thereof. The outer end portion of the driven side gear 311c enters the enlarged diameter portion 328d1 formed in the first block 302 b. The enlarged diameter portion 328d1 is provided at the upper end position of the internal space 328d formed in the first block side portion 302b1 as described later, and is closed by the first block plate 302b 2.
The first base portion 302a1 has an internal space 328b formed in the middle in the vertical direction. The inner space 328b is formed along a horizontal plane orthogonal to the output axis T0.
The first base portion 302a1 has two through holes 328a and 328d2 that penetrate in the vertical direction. Both the through hole 328a and the through hole 328d2 communicate with the inner space 328 b.
The through hole 328a is disposed with the output axis T0 as a center line, and is formed concentrically with the cylindrical second block 302 c. Through hole 328a penetrates from inner space 328b to the outside of the lower surface of reduction gear 301.
The through hole 328d2 is formed at a position corresponding to the center of the input gear 321.
The through hole 328d2 communicates with an internal space 328d of the first module 302b, which will be described later, from the internal space 328 b.
The input gear (first gear) 321, the idle gear (second gear) 323, and the sun gear (third gear) 322 of the gear mechanism 320 are housed in the internal space 328b in a mutually meshed state. The inner space 328b has a planar contour shape in which a portion formed in a shape concentric with the input shaft (support shaft) 321a, a portion formed in a shape concentric with the idler shaft (support shaft) 323a, and a portion corresponding to the shape concentric with the sun gear 322 are continuous.
In the internal space 328b, the input gear 321 is coupled to the input shaft 311, which transmits a rotational driving force from the motor 310, as the gear mechanism 320. The idler gear 323 is engaged with the input gear 321 inside the inner space 328b and is rotatably held by the first base portion 302a1 and the second base portion 302a 2. The sun gear 322 is positioned inside the internal space 328b, and meshes with the idle gear 323 to transmit rotation of the input gear 321.
The sun gear 322 is set to have a larger diameter than the input gear 321 and to have a larger number of teeth than the input gear 321. Thus, the rotation of the input gear 321 by the motor 310 is reduced at a predetermined reduction ratio, and is transmitted to the sun gear 322 in this state.
An opening 328b1 is formed in the first base portion 302a1 at a lower position of the internal space 328b facing the input gear 321 and the idle gear 323. The second base portion 302a2 is fitted into the opening 328b1 from below to close the opening 328b 1. The second base portion 302a2 is fixed at a position inserted halfway in the vertical direction of the internal space 328 b.
In the first base portion 302a1, an enlarged diameter portion 328b2 that is enlarged in a stepwise manner is formed at an edge portion of the downward opening 328b1 of the internal space 328 b. A flange portion 302a2a formed to protrude toward the periphery of the second base portion 302a2 is fitted into the enlarged diameter portion 328b 2. In this state, the surface of the enlarged diameter portion 328b2 and the surface of the flange portion 302a2a, which face each other in the vertical direction, are in contact with each other. Thereby, the position of the second base portion 302a2 with respect to the first base portion 302a1 in the vertical direction is fixed. The enlarged diameter portion 328b2 may be formed to the end portion that becomes the outline of the first base portion 302a1 in the horizontal direction. A sealing member such as an O-ring may be provided around the opening 328b1 at a position above the flange 302a2 a.
The second base portion 302a2 has a support hole 321f with a circular cross section and a bottom formed in a surface thereof located inside the internal space 328 b.
A bearing 321g is attached to the support hole 321 f. The bearing 321g is attached to the inner peripheral surface of the support hole 321 f. The bearing 321g supports the lower end portion of the input shaft 321 a. The input shaft 321a has an input axis T1 in the up-down direction along the output axis T0. The lower end portion of the input shaft 321a is inserted into the support hole 321 f. An input gear 321 is attached to the input shaft 321a near the lower end.
Fig. 12 is an explanatory view showing a shaft position changing unit according to the present embodiment, and fig. 13 is a cross-sectional view taken along line XIII-XIII in fig. 12.
In the second base portion 302a2, support holes (support hole portions) 351A, 351C, and 351E having a circular cross section and a bottom are formed in a surface located inside the internal space 328 b.
In the first base portion 302a1, support holes (support hole portions) 351B, 351D, and 351F having a circular cross section and a bottom are formed in a surface located inside the internal space 328B.
That is, the base portion 302a has a first base portion 302a1 and a second base portion 302a2 that are opposite to each other in the axial direction of the idler 323 and are located on both sides of the idler 323. Support holes (support hole portions) 351A to 351F are formed in at least one of the opposing surface of the first base portion 32a1 and the opposing surface of the second base portion 302a 2.
The support holes (support hole portions) 351A to 351F are provided as shaft position changing portions 350 that can change the position of the idler shaft (support shaft) 323a of the idler gear 323 corresponding to the input gears 321 having different numbers of teeth. The support holes (support hole portions) 351A to 351F all open into the internal space 328 b. The support holes (support hole portions) 351A to 351F are all arranged along a circumference R50 that is a predetermined distance from the input axis T1, which is the rotation center of the input gear 321.
The support holes (support hole portions) 351A to 351F are alternately arranged on the first base portion 302a1 and the second base portion 302a2 on the circumference R50. The support holes (support hole portions) 351A to 351F are arranged so as to be separated from each other on the circumference R50.
The distal end portion of the columnar idler shaft 323a is inserted into any of the support holes 351A to 351F. Thereby, the idler shaft 323a is rotatably supported at the position where the idler shaft 323a is inserted in the support holes 351A to 351F. The idler 323 is connected to an idler shaft 323 a.
The idler shaft 323 is rotatably supported by selecting an insertion position of the idler shaft 323a from the support holes 351A to 351F. The idler shaft 323a has an idler axis T3 in a vertical direction along an output axis T0.
The support holes (support hole portions) 351A to 351F and the support hole 321F are formed so as to be separated from each other in a plane viewed in a direction along the output axis T0. Even if the insertion position of the idler shaft 323a is selected from the support holes 351A to 351F, the distance between the rotational center of the input gear 321 and the rotational center of the idler shaft 323 does not change.
Fig. 10 shows a state in which the idler shaft 323a of the idler gear 323 is fitted in the support hole (support hole) 351B among the support holes (support hole portions) 351A to 351F.
Here, the distal end portion of the columnar idler shaft 323a is inserted into the support hole 351B. The idler 323 is connected to an idler shaft 323 a.
An inner space 328d extending in the vertical direction is formed at a position of the first module side portion 302b1 that faces the support hole 321 f. The internal space 328d is formed to extend upward, and the lower end thereof communicates with the internal space 328b through the through hole 328d 2.
The inner space 328d has a circular cross section corresponding to the through hole 328d 2. The upper end of interior space 328d is closed off by first module panel 302b 2. A support hole 321h having a circular cross section and a bottom is formed in a lower surface of the first module board 302b2 on the inner side of the internal space 328 d. A bearing 321g is attached to the support hole 321 h. The bearing 321g is attached to the inner peripheral surface of the support hole 321 h. The bearing 321g supports the input shaft 321 a. The upper end of the input shaft 321a is inserted into the support hole 321 h.
In the first block 302b, an enlarged diameter portion 328d1 is formed at the upper end of the internal space 328 d. The driven side gear 311c is housed in the enlarged diameter portion 328d1 at a position below the bearing 321 g. The lower end of first module board 302b2 fits into the upper end of interior space 328 d. A flange portion 302b2a is provided around the upper end of the first module plate 302b2 so as to protrude radially outward. The flange portion 302b2a contacts the upper end of the first module side portion 302b1, and thereby the vertical position of the first module plate 302b2 with respect to the first module side portion 302b1 is fixed. At the same time, the first block side portion 302b1 is in close contact with the first block plate 302b2 to seal the internal space 328 d. A sealing member (sealing structure, sealing member) such as an O-ring may be provided on the outer peripheral surface of the first module plate 302b2 below the flange portion 302b2a and inserted into the first module side portion 302b 1.
In the first block 302b, a bearing 321g for supporting the center position of the input shaft 321a in the axial direction is attached to a position near the lower end of the internal space 328 d. The bearing 321g is attached to the inner peripheral surface of the inner space 328d of the first block side portion 302b 1.
At the lower end of the first module side portion 302b1, which is the lower end of the internal space 328d, a protrusion 302b4 protruding downward is formed at a position around the through hole 328d 2. The protrusion 302b4 is inserted into the through hole 328d2 for positioning between the first module side 302b1 and the first base portion 302a 1.
In the first block 302b, a through hole 328d4 extending in the horizontal direction is formed at a position corresponding to the enlarged diameter portion 328d1 in the vertical direction of the internal space 328d and at a position below the enlarged diameter portion 328d 1.
The through hole 328d4 is formed to extend in a direction from the input shaft 321a toward the motor 310. The driving side gear 311b is accommodated in the through hole 328d 4. Outside the through hole 328d4, an input shaft support 325 is formed continuously with the first block side portion 302b1 at a position around the input shaft 311. The input shaft support 325 is formed in a cylindrical shape surrounding the input shaft 311, and a bearing 324 is disposed inside the cylindrical shape. The bearing 324 rotatably supports the input shaft 311. A motor support member 326 is fixed to the input shaft support portion 325 on the outer side close to the motor 310. The inner portion of the input shaft support 325 has a radial dimension corresponding to the through hole 328d 4. The input shaft support 325 and the first block side portion 302b1 enclose the input shaft 311 and the driving side gear 311b and are sealed from the outside.
The first base portion 302a1 has an opening 328b3 formed in an upper side of the internal space 328b facing the sun gear 322. The opening 328b3 is closed by the second block 302c and the speed reducer 330. The opening 328b3 is formed in a planar profile shape centered on the output axis T0 that is concentric with the second module 302c and the sun gear 322.
In the inner space 328b, the sun gear 322 is rotatably supported by the cylinder 334.
The cylinder 334 vertically penetrates the inner space 328 b. Barrel 334 is centered on output axis T0. The cylinder 334 vertically penetrates the speed reducer 301. The lower end of the cylinder 334 is fitted into the through hole 328 a. A seal member 334b may be provided between the lower end of the cylinder 334 and the inner surface of the through hole 328 a. A flange portion 334a exposed to the upper surface of the decelerating portion 330 is formed at the upper end of the cylinder 334. The flange portion 334a is formed so as to be recessed downward with respect to the upper surface of the speed reducer 301. The cylinder 334 is disposed substantially at the center of the opening 328b 3.
A coaxial gear 322d is integrally formed with the sun gear 322. The gear 322d has a smaller number of teeth than the sun gear 322, and is set to have a smaller diameter. The sun gear 322 is integrated with the gear 322d and is rotatable around the cylinder 334. The gear 322d is disposed above the sun gear 322. The gear 322d is disposed closer to the reduction unit 330 than the sun gear 322. The gear 322d serves as an input side to the reduction unit 330. Gear 322d is received within opening 328b 3. The lower end of the sun gear 322 is rotatably supported by a bearing 334c in the vicinity of the through hole 328 a. The upper end of the sun gear 322 is supported by a bearing 334c so as to be rotatable with respect to the reduction part 330.
The speed reducer 330 is housed in a cylindrical second block 302c fixed to the first base portion 302a 1. The speed reducer 330 may be, for example, an eccentric oscillating type speed reducing mechanism. The decelerating section 330 includes: a carrier 333 disposed inside the second module 302 c; and a transmission shaft 331 which rotates with the rotation of the sun gear 322.
The carrier 333 is relatively rotatable with respect to the second module 302c about the output axis T0. Specifically, relative rotation between the second module 302c and the carrier 333 is permitted by a bearing 336 provided between the inner periphery of the second module 302c and the outer periphery of the carrier 333. The carrier 333 is exposed to the upper surface of the reduction part 330. The carrier 333 serves as an output side of the reduction gear unit 330. The lower end of the decelerating portion 330 is opposite to the opening 328b 3. A tubular body 334 is inserted through the center of the carrier 333. The axis of carrier 333 coincides with the axis of barrel 334, i.e., output axis T0. Barrel 334 may also be fixed to, for example, gear carrier 333.
The transmission shaft 331 is an input side of the reduction unit 330 to which the rotational driving force is transmitted from the sun gear 322. The transmission shaft 331 is mounted to be rotatable relative to the carrier 333 about an axis parallel to the output axis T0. The speed reducer 330 rotates the second module 302c and the carrier 333 relatively at a speed slower than the rotation speed of the transmission shaft 331 based on the rotation of the transmission shaft 331. The transmission shaft 331 is provided with a transmission gear 332 that meshes with the gear 322 d. The transfer gear 332 is a spur gear. The transmission gear 332 is disposed above the sun gear 322.
The speed reducer 301 of the present embodiment may be fixed to a flat speed reducer mounting surface. In this state, a turntable or the like may be placed on the upper surface of the carrier 333. In this case, the turntable is fixed to the upper surface of the carrier 333 by a fastening bolt or the like.
In the reduction gear 301, when the motor 310 is driven, the drive shaft 310a rotates, and the input shaft 311, which is coaxial with and integral with the drive shaft 310a, rotates. Thereby, the driven side gear 311c meshing with the driving side gear 311b provided on the input shaft 311 is driven, and the input shaft 321a of the gear mechanism 320 rotates about the input axis T1. When the input shaft 321a rotates, the input gear 321 coupled to the input shaft 321a rotates about the input axis T1. Due to the rotation of the input gear 321, the idle gear 323 engaged with the input gear 321 rotates around the idle gear shaft 323 a. When the idler gear 323 rotates, the sun gear 322 engaged with the idler gear 323 rotates about the output axis T0. When the sun gear 322 rotates, a coaxial gear 322d integrated with the sun gear 322 rotates. Thereby, the transmission gear 332 engaged with the gear 322d rotates, and the transmission shaft 331 integrated with the transmission gear 332 rotates. Due to the rotation of the transmission shaft 331, the carrier 333 and the second module 302c as the outer cylinder of the speed reducer 330 relatively rotate at a speed slower than the rotation speed of the transmission shaft 331. Thereby, the turntable rotates.
In the reduction gear 301 of the present embodiment, a plurality of types of input gears 321 are selected, and different gear ratios can be selected and set by associating the mounting position of the idle gear 323 with the selected input gear by the shaft position changing unit 350.
Fig. 12 and 13 show 6 support holes (support hole portions) 351A to 351F as the shaft position changing portion 350, in which the idler shaft 323a of the idler gear 323 is inserted into the support hole 351A.
The support hole 351F is disposed such that the idler axis T3 is on a straight line connecting the input axis T1 and the central axis T2 when viewed in a direction along the input axis T1.
Further, the support holes 351A to 351E are arranged in order of the support hole 351E, the support hole 351D, the support hole 351C, the support hole 351B, and the support hole 351A from the near side to the far side so that the distance from the straight line connecting the input axis T1 and the central axis line T2 becomes larger when viewed in the direction along the input axis line T1. The support hole 351A is farthest from the straight line connecting the input axis T1 and the central axis line T2 among the support holes 351A to 351F.
Here, the input gear 321(a) has the largest outer diameter and number of teeth in the reduction gear 301 of the present embodiment. In this case, the idler shaft 323a of the idler gear 323 is inserted into the support hole 351A. The idler gear 323 is attached to the first base portion 302a1 of the base portion 302a via the support hole 351A.
On the other hand, as shown by the imaginary lines in fig. 12 and 13, when the input gear 321(D) having a smaller outer diameter and a smaller number of teeth than the input gear 321(a) is applied, the idle gear 323 has the idle gear shaft 323a inserted into the support hole 351D. The idler 323 is attached to the second base portion 302a2 of the base portion 302a via the support hole 351D.
Similarly, the idler gear 323 can be attached to the base portion 302a through any of the support holes 351A to 351F, thereby accommodating input gears 321 having different outer diameters and numbers of teeth.
In the reduction gear 301 of the present embodiment, when the input gear 321 having a different outer diameter and number of teeth is replaced, the shaft position changing unit 350 is appropriately selected from the plurality of support holes 351A to 351F formed in the base unit 302a in accordance with a change in the distance between the tooth surfaces of the input gear 321 and the center gear 322, and the idler shaft 323a of the idler gear 323 can be fixed at an optimum position.
Therefore, the reduction gear ratio between the input gear 321 and the sun gear 322 can be changed without replacing the support module such as the base portion 302a, and the range of change can be further widened. Thus, when the speed reducer 301 of the present embodiment is used, the change range of the gear ratio between the input gear 321 and the sun gear 322 can be widened without requiring large-scale component replacement, and the increase in component cost can be suppressed.
Further, since the plurality of support holes 351A to 351F are arranged along the circumference R50, the range of change in the speed ratio between the input gear 321 and the sun gear 322 can be widened by changing the mounting position of the idle gear 323 for the input gears 321(a) to 321 (F) having different outer diameters and numbers of teeth, and the increase in the component cost can be suppressed.
The plurality of support holes 351A to 351F are alternately arranged on the first base portion 302a1 and the second base portion 302a2 on the circumference R50. Accordingly, it is possible to cope with a slight change in the transmission gear ratio, as compared with the case where the plurality of support holes 351A to 351F are arranged only on one side of the first base portion 302a1 and the second base portion 302a 2. In addition, even when dealing with a slight change in the transmission gear ratio, the distance between the adjacent support holes 351A to 351F can be set within a range having sufficient strength in either the first base portion 302a1 or the second base portion 302a 2.
The present invention is not limited to the above-described embodiments, and various design changes can be made without departing from the scope of the invention.
For example, in the above description of the embodiment, the example in which 6 positions are arranged as the support holes 351A to 351F is shown, but the present invention is not limited to this. The support holes 351A to 351F are alternately arranged on the first base portion 302a1 and the second base portion 302a2, but the present invention is not limited thereto. The shaft position changing unit 350 can appropriately change the arrangement thereof according to the set speed ratios of the input gear 321 and the sun gear 322.
In the present embodiment, the reduction gear 301 is used for driving the turntable as a structure in which the reduction gear 301 is placed on a surface extending in the horizontal direction, but the present invention is not limited to this structure and use. The speed reducer 301 in the present embodiment may be fixed to a mounting surface extending in a direction other than the horizontal direction.
In the reduction gear unit 330, the output side is described as the carrier 333, but the configuration is not limited to this, and any one of the carrier 333 and the cylindrical second module 302c may be the output side.
The gear mechanism of the present invention is not limited to the reduction gear 301 of the above-described embodiment, and may be applied to any machine or device.
Description of the reference numerals
1. A drive device; 2. a motor (rotation drive source); 10. 110, 210, 301, reducer; 13. a rotation module; 14. a fixed module (support module); 15A, 1 st gear rack module (support module); 30. a central gear (output gear); 32. an intermediate gear; 33. an input gear; 38. 38A, a mounting base (support module); 39. 239, supporting the axle; 40. 40A, a holding member; 40a, a portion (holding portion) connected to the support shaft; 41. a retaining hole; 45A, 45B, a support shaft fitting hole; c2, axis; 302a1, a first base part (support module); 302a2, a second base part (support module); 320. a gear mechanism; 321. an input gear (first gear); 321a, an input shaft (support shaft); 322. a sun gear (third gear); 322a, a central axis (support shaft); 323. an idler gear (second gear); 323a, an idler shaft (support shaft); 350. a shaft position changing unit; 351A to 351F, and support holes (support hole portions).

Claims (15)

1. A speed reducer, wherein,
the speed reducer is provided with:
a support module;
an input gear rotatably supported by the support module;
an intermediate gear meshed with the input gear;
an output gear meshed with the intermediate gear; and
and a gear position changing mechanism capable of changing a position of the intermediate gear with respect to the input gear and the output gear.
2. A decelerator according to claim 1 wherein,
the gear position changing mechanism includes a holding member that holds the support shaft of the intermediate gear, and is detachably attached to the support module.
3. A decelerator according to claim 2 wherein,
the holding member has a holding portion that holds the support shaft at a position separated from a reference position on the holding member,
the holding member and the support module have a rotational position changing portion capable of changing a rotational position of the holding member around the reference position,
the gear position changing mechanism includes the rotational position changing portion and the holding portion of the holding member.
4. A decelerator according to claim 3 wherein,
the holding member is formed in a cylindrical shape with the reference position as an axis,
the support module has a circular holding hole into which the outer peripheral surface of the holding member is fitted,
the rotational position changing portion has the holding hole and an outer peripheral surface of the holding member.
5. A decelerator according to claim 4 wherein,
the support shaft is formed integrally with the holding portion of the holding member.
6. A speed reducer, wherein,
the speed reducer is provided with:
a support module;
an input gear rotatably supported by the support module;
an intermediate gear meshed with the input gear;
an output gear meshed with the intermediate gear; and
a holding member that holds the support shaft of the intermediate gear and is detachably attached to the support module,
the holding member is formed in a cylindrical shape, and the support shaft is integrally formed at a position separated from an axial position of the holding member,
the support module has a circular holding hole into which the outer peripheral surface of the holding member is fitted,
the outer peripheral surface of the holding member and the holding hole of the support module constitute a rotational position changing portion capable of changing a rotational position of the holding member about the axis thereof.
7. A speed reducer, wherein,
the speed reducer is provided with:
a support module;
an input gear rotatably supported by the support module;
an intermediate gear meshed with the input gear;
an output gear meshed with the intermediate gear; and
a shaft position changing unit capable of changing a position of the support shaft of the intermediate gear.
8. A decelerator according to claim 7 wherein,
the support module has a plurality of support shaft fitting holes into which the support shafts can be fitted,
the shaft position changing portion is formed by a plurality of support shaft fitting holes.
9. A drive device is provided with:
a speed reducer that outputs the rotation of the rotation drive source by reducing the rotation speed; and
a rotation module coupled to an output part of the decelerator, wherein,
the speed reducer is provided with:
a support module;
an input gear rotatably supported by the support module;
an intermediate gear meshed with the input gear;
an output gear meshed with the intermediate gear; and
and a gear position changing mechanism capable of changing a position of the intermediate gear with respect to the input gear and the output gear.
10. A gear mechanism in which, in a gear mechanism,
the gear mechanism includes:
a support module;
a first gear rotatably supported by the support module;
a second gear meshed with the first gear;
a third gear meshed with the second gear; and
and a shaft position changing unit that can change a position of the support shaft of the second gear in accordance with the third gear having a different number of teeth.
11. The gear mechanism of claim 10,
the shaft position changing part includes a plurality of support hole parts capable of rotatably supporting the support shaft inserted therein, and the plurality of support hole parts are formed separately in the support module.
12. The gear mechanism of claim 11,
the support module has a plurality of support hole portions along a circumference that is a predetermined distance from a rotation center of the first gear.
13. The gear mechanism according to claim 11 or 12,
the support module has a first base portion and a second base portion that are located on both sides of the second gear so as to be opposed to each other in the axial direction of the second gear,
the support hole portion is provided in at least one of the opposing surface of the first base portion and the opposing surface of the second base portion.
14. The gear mechanism of claim 13,
the support module includes a plurality of support hole portions arranged along a circumference having a predetermined distance from a rotation center of the first gear, and the plurality of support hole portions are alternately arranged on the opposing surface of the first base portion and the opposing surface of the second base portion on the circumference.
15. A speed reducer, wherein,
the speed reducer comprises a gear mechanism and a speed reducing part connected with the gear mechanism,
the gear mechanism includes: a support module; a first gear rotatably supported by the support module; a second gear meshed with the first gear; a third gear meshed with the second gear; and a shaft position changing unit that can change a position of the support shaft of the second gear in accordance with the third gear having a different number of teeth.
CN202080022558.3A 2019-04-26 2020-03-25 Gear mechanism, speed reducer, and driving device using speed reducer Active CN113614410B (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2019-086552 2019-04-26
JP2019086552 2019-04-26
JP2019-127992 2019-07-09
JP2019127992A JP7398217B2 (en) 2019-04-26 2019-07-09 Gear mechanism, reducer, and drive device using the reducer
PCT/JP2020/013285 WO2020217831A1 (en) 2019-04-26 2020-03-25 Gear mechanism, reduction gear, and drive device using reduction gear

Publications (2)

Publication Number Publication Date
CN113614410A true CN113614410A (en) 2021-11-05
CN113614410B CN113614410B (en) 2024-06-25

Family

ID=73044359

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080022558.3A Active CN113614410B (en) 2019-04-26 2020-03-25 Gear mechanism, speed reducer, and driving device using speed reducer

Country Status (2)

Country Link
JP (1) JP7398217B2 (en)
CN (1) CN113614410B (en)

Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB454880A (en) * 1935-05-03 1936-10-09 Norman Wright Improvements in or relating to price change mechanisms for prepayment meters
US2436746A (en) * 1943-07-12 1948-02-24 Charles W Drought Selective gear reduction units
US4488447A (en) * 1981-07-03 1984-12-18 M.A.N. Maschinenfabrik Augsburg-Nurnberg Aktiengesellschaft Power take-off of an internal combustion engine
JPS63182238U (en) * 1987-05-16 1988-11-24
JPH02180326A (en) * 1988-12-29 1990-07-13 Suzuki Motor Co Ltd Transmission
JPH05164217A (en) * 1991-12-18 1993-06-29 Daihatsu Motor Co Ltd Idler gear shaft positioning structure of transmission
JPH05172220A (en) * 1991-12-18 1993-07-09 Daihatsu Motor Co Ltd Reverse idler gear lubricating structure of transmission
JPH07256969A (en) * 1994-03-23 1995-10-09 Tec Corp Bar code printer
US20020155915A1 (en) * 2001-04-18 2002-10-24 Teijin Seiki Co., Ltd. Speed reduction gear
JP2002317644A (en) * 2001-04-24 2002-10-31 Mitsubishi Heavy Ind Ltd Auxiliary machine driving gear device and producing method thereof
KR20020087033A (en) * 2002-10-14 2002-11-21 최기남 Continuously variable transmission
JP2003120316A (en) * 2001-10-15 2003-04-23 Mitsubishi Automob Eng Co Ltd Power transmission
US20040083839A1 (en) * 2002-11-04 2004-05-06 Hahn Terry Luke Simple bicycle drive shaft transmission
CN201401487Y (en) * 2009-04-02 2010-02-10 李茂江 Gearbox with double speed shifting levers
US20100179013A1 (en) * 2005-08-22 2010-07-15 Koji Nakamura Center crank eccentrically oscillating speed reducer
CN102483136A (en) * 2009-06-04 2012-05-30 约翰·诺伊施蒂夫特 Method for modifying a transfer case for a plurality of outputs
CN102937178A (en) * 2012-10-31 2013-02-20 中国北方发动机研究所(天津) Gear axis position adjustable mechanism
JP2017057917A (en) * 2015-09-16 2017-03-23 三菱電機株式会社 Actuator

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4532822A (en) * 1982-09-24 1985-08-06 Godlewski Edward S Shaft and gear adjuster
WO2019225402A1 (en) 2018-05-22 2019-11-28 日本精機株式会社 Instrument device

Patent Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB454880A (en) * 1935-05-03 1936-10-09 Norman Wright Improvements in or relating to price change mechanisms for prepayment meters
US2436746A (en) * 1943-07-12 1948-02-24 Charles W Drought Selective gear reduction units
US4488447A (en) * 1981-07-03 1984-12-18 M.A.N. Maschinenfabrik Augsburg-Nurnberg Aktiengesellschaft Power take-off of an internal combustion engine
JPS63182238U (en) * 1987-05-16 1988-11-24
JPH02180326A (en) * 1988-12-29 1990-07-13 Suzuki Motor Co Ltd Transmission
JPH05164217A (en) * 1991-12-18 1993-06-29 Daihatsu Motor Co Ltd Idler gear shaft positioning structure of transmission
JPH05172220A (en) * 1991-12-18 1993-07-09 Daihatsu Motor Co Ltd Reverse idler gear lubricating structure of transmission
JPH07256969A (en) * 1994-03-23 1995-10-09 Tec Corp Bar code printer
US20020155915A1 (en) * 2001-04-18 2002-10-24 Teijin Seiki Co., Ltd. Speed reduction gear
JP2002317644A (en) * 2001-04-24 2002-10-31 Mitsubishi Heavy Ind Ltd Auxiliary machine driving gear device and producing method thereof
JP2003120316A (en) * 2001-10-15 2003-04-23 Mitsubishi Automob Eng Co Ltd Power transmission
KR20020087033A (en) * 2002-10-14 2002-11-21 최기남 Continuously variable transmission
US20040083839A1 (en) * 2002-11-04 2004-05-06 Hahn Terry Luke Simple bicycle drive shaft transmission
US20100179013A1 (en) * 2005-08-22 2010-07-15 Koji Nakamura Center crank eccentrically oscillating speed reducer
CN201401487Y (en) * 2009-04-02 2010-02-10 李茂江 Gearbox with double speed shifting levers
CN102483136A (en) * 2009-06-04 2012-05-30 约翰·诺伊施蒂夫特 Method for modifying a transfer case for a plurality of outputs
CN102937178A (en) * 2012-10-31 2013-02-20 中国北方发动机研究所(天津) Gear axis position adjustable mechanism
JP2017057917A (en) * 2015-09-16 2017-03-23 三菱電機株式会社 Actuator

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
朱卓宇;胡超;叶金祥;: "某减速器构型论证与均载分析", 中国设备工程, no. 08, 25 April 2019 (2019-04-25) *
韩建保, 赵志力, 张鲁滨: "车载式25t绞盘强度分析及改进设计方案研究", 车辆与动力技术, no. 02 *

Also Published As

Publication number Publication date
JP7398217B2 (en) 2023-12-14
JP2020183804A (en) 2020-11-12
TW202041796A (en) 2020-11-16
CN113614410B (en) 2024-06-25

Similar Documents

Publication Publication Date Title
KR101410133B1 (en) Speed reducer
US8100807B2 (en) Reduction gear transmission and solar tracking photovoltaic power generation unit utilizing the same
US20090118050A1 (en) Reduction Gear Transmission and Manufacturing Method Thereof
JP5231530B2 (en) Gear device
JP2011005610A (en) Two-axis rotary positioner
WO2020217831A1 (en) Gear mechanism, reduction gear, and drive device using reduction gear
EP3358217B1 (en) Speed reducer
KR101418926B1 (en) Gear motor and adapter for the gear motor
CN113614410A (en) Gear mechanism, speed reducer, and drive device using speed reducer
KR20150087451A (en) The harmonic reduction for flexible spline and its manufacturing apparatus
KR101208204B1 (en) Shaft key hole manufacturing device
KR200468990Y1 (en) Idle gear carrier of speed reducer
JP2003251505A (en) Rotary tool turret for lathe
TWI845650B (en) Gear mechanism, speed reducer, and driving device using speed reducer
CN113614411A (en) Speed reducer and driving device using same
JP2017082883A (en) Driving device
CN113412378A (en) Power transmission device
JP4489255B2 (en) Turret lathe hobbing unit
JP2002307212A (en) Turret head driving device for turret lathe
US11378162B2 (en) Speed reducer
CN210978400U (en) Harmonic bearing type cycloidal pin gear speed reducer
JP2008249110A (en) Eccentric oscillating gear mechanism
JP2022101123A (en) Machine tool
CN117628124A (en) Speed reducer
CN114321286A (en) Reduction gear and drive device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant